Package com.irurueta.geometry.estimators

Class EPnPPointCorrespondencePinholeCameraRobustEstimator

java.lang.Object

com.irurueta.geometry.estimators.PinholeCameraRobustEstimator

com.irurueta.geometry.estimators.PointCorrespondencePinholeCameraRobustEstimator

com.irurueta.geometry.estimators.EPnPPointCorrespondencePinholeCameraRobustEstimator

Direct Known Subclasses:

LMedSEPnPPointCorrespondencePinholeCameraRobustEstimator, MSACEPnPPointCorrespondencePinholeCameraRobustEstimator, PROMedSEPnPPointCorrespondencePinholeCameraRobustEstimator, PROSACEPnPPointCorrespondencePinholeCameraRobustEstimator, RANSACEPnPPointCorrespondencePinholeCameraRobustEstimator

public abstract class EPnPPointCorrespondencePinholeCameraRobustEstimator
extends PointCorrespondencePinholeCameraRobustEstimator

Base abstract class for algorithms to robustly find the best pinhole camera for collections of matched 3D/2D points using EPnP (Efficient Perspective-n-Point) algorithm. Implementations of this class should be able to detect and discard outliers in order to find the best solution.

Field Summary

Fields

Modifier and Type	Field	Description
protected PinholeCameraIntrinsicParameters	intrinsic	Intrinsic parameters of camera to be estimated.
protected boolean	nullspaceDimension2Allowed	Indicates whether the case where a dimension 2 null-space is allowed.
protected boolean	nullspaceDimension3Allowed	Indicates whether the case where a dimension 3 null-space is allowed.
protected boolean	planarConfigurationAllowed	Indicates whether planar configuration is checked to determine whether point correspondences are in such configuration and find a specific solution for such case.
protected double	planarThreshold	Threshold to determine whether 3D matched points are in a planar configuration.

Fields inherited from class com.irurueta.geometry.estimators.PointCorrespondencePinholeCameraRobustEstimator

DEFAULT_NORMALIZE_SUBSET_POINT_CORRESPONDENCES, DEFAULT_ROBUST_METHOD, MIN_NUMBER_OF_POINT_CORRESPONDENCES, normalizeSubsetPointCorrespondences, points2D, points3D

Fields inherited from class com.irurueta.geometry.estimators.PinholeCameraRobustEstimator

confidence, covariance, DEFAULT_CONFIDENCE, DEFAULT_KEEP_COVARIANCE, DEFAULT_MAX_ITERATIONS, DEFAULT_PROGRESS_DELTA, DEFAULT_REFINE_RESULT, DEFAULT_SUGGEST_ASPECT_RATIO_ENABLED, DEFAULT_SUGGEST_CENTER_ENABLED, DEFAULT_SUGGEST_HORIZONTAL_FOCAL_LENGTH_ENABLED, DEFAULT_SUGGEST_PRINCIPAL_POINT_ENABLED, DEFAULT_SUGGEST_ROTATION_ENABLED, DEFAULT_SUGGEST_SKEWNESS_VALUE_ENABLED, DEFAULT_SUGGEST_VERTICAL_FOCAL_LENGTH_ENABLED, DEFAULT_SUGGESTED_ASPECT_RATIO_VALUE, DEFAULT_SUGGESTED_SKEWNESS_VALUE, DEFAULT_USE_FAST_REFINEMENT, inliersData, keepCovariance, listener, locked, MAX_CONFIDENCE, MAX_PROGRESS_DELTA, maxIterations, MIN_CONFIDENCE, MIN_ITERATIONS, MIN_PROGRESS_DELTA, progressDelta, refineResult, suggestAspectRatioEnabled, suggestCenterEnabled, suggestedAspectRatioValue, suggestedCenterValue, suggestedHorizontalFocalLengthValue, suggestedPrincipalPointValue, suggestedRotationValue, suggestedSkewnessValue, suggestedVerticalFocalLengthValue, suggestHorizontalFocalLengthEnabled, suggestPrincipalPointEnabled, suggestRotationEnabled, suggestSkewnessValueEnabled, suggestVerticalFocalLengthEnabled, useFastRefinement

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	EPnPPointCorrespondencePinholeCameraRobustEstimator()	Constructor.
protected	EPnPPointCorrespondencePinholeCameraRobustEstimator(PinholeCameraRobustEstimatorListener listener)	Constructor with listener.
protected	EPnPPointCorrespondencePinholeCameraRobustEstimator(PinholeCameraRobustEstimatorListener listener, PinholeCameraIntrinsicParameters intrinsic)	Constructor with intrinsic parameters and listener.
protected	EPnPPointCorrespondencePinholeCameraRobustEstimator(PinholeCameraRobustEstimatorListener listener, PinholeCameraIntrinsicParameters intrinsic, List<Point3D> points3D, List<Point2D> points2D)	Constructor with listener and lists of points to be used to estimate a pinhole camera and intrinsic parameters.
protected	EPnPPointCorrespondencePinholeCameraRobustEstimator(PinholeCameraRobustEstimatorListener listener, List<Point3D> points3D, List<Point2D> points2D)	Constructor with listener and lists of points to be used to estimate a pinhole camera.
protected	EPnPPointCorrespondencePinholeCameraRobustEstimator(PinholeCameraIntrinsicParameters intrinsic)	Constructor with intrinsic parameters.
protected	EPnPPointCorrespondencePinholeCameraRobustEstimator(PinholeCameraIntrinsicParameters intrinsic, List<Point3D> points3D, List<Point2D> points2D)	Constructor with lists of points to be used to estimate a pinhole camera and intrinsic parameters.
protected	EPnPPointCorrespondencePinholeCameraRobustEstimator(List<Point3D> points3D, List<Point2D> points2D)	Constructor with lists of points to be used to estimate a pinhole camera.

Method Summary

Modifier and Type	Method	Description
static EPnPPointCorrespondencePinholeCameraRobustEstimator	create()	Creates a pinhole camera robust estimator based on point correspondences and using default robust estimator method.
static EPnPPointCorrespondencePinholeCameraRobustEstimator	create(double[] qualityScores)	Creates a pinhole camera robust estimator based on point correspondences and using provided quality scores and default robust estimator method.
static EPnPPointCorrespondencePinholeCameraRobustEstimator	create(double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on point correspondences and using provided quality scores and robust estimator method.
static EPnPPointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener)	Creates a pinhole camera robust estimator based on point correspondences and using provided listener and default robust estimator method.
static EPnPPointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, double[] qualityScores)	Creates a pinhole camera robust estimator based on point correspondences and using provided listener, quality scores and default robust estimator method.
static EPnPPointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on point correspondences and using provided listener and quality scores.
static EPnPPointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, PinholeCameraIntrinsicParameters intrinsic)	Creates a pinhole camera robust estimator based on point correspondences and using provided listener and default robust estimator method.
static EPnPPointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, PinholeCameraIntrinsicParameters intrinsic, double[] qualityScores)	Creates a pinhole camera robust estimator based on point correspondences and using provided listener, quality scores and default robust estimator method.
static EPnPPointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, PinholeCameraIntrinsicParameters intrinsic, double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on point correspondences and using provided listener and quality scores.
static EPnPPointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, PinholeCameraIntrinsicParameters intrinsic, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on point correspondences and using provided listener.
static EPnPPointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, PinholeCameraIntrinsicParameters intrinsic, List<Point3D> points3D, List<Point2D> points2D)	Creates a pinhole camera robust estimator based on point correspondences and using provided listener, 2D/3D points and default robust estimator method.
static EPnPPointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, PinholeCameraIntrinsicParameters intrinsic, List<Point3D> points3D, List<Point2D> points2D, double[] qualityScores)	Creates a pinhole camera robust estimator based on point correspondences and using provided listener, 2D/3D points, quality scores and default robust estimator method.
static EPnPPointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, PinholeCameraIntrinsicParameters intrinsic, List<Point3D> points3D, List<Point2D> points2D, double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on point correspondences and using provided listener, 2D/3D points, quality scores and robust estimator method.
static EPnPPointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, PinholeCameraIntrinsicParameters intrinsic, List<Point3D> points3D, List<Point2D> points2D, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on point correspondences and using provided listener, 2D/3D points and robust estimator method.
static EPnPPointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on point correspondences and using provided listener.
static EPnPPointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, List<Point3D> points3D, List<Point2D> points2D)	Creates a pinhole camera robust estimator based on point correspondences and using provided listener, 2D/3D points and default robust estimator method.
static EPnPPointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, List<Point3D> points3D, List<Point2D> points2D, double[] qualityScores)	Creates a pinhole camera robust estimator based on point correspondences and using provided listener, 2D/3D points, quality scores and default robust estimator method.
static EPnPPointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, List<Point3D> points3D, List<Point2D> points2D, double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on point correspondences and using provided listener, 2D/3D points, quality scores and robust estimator method.
static EPnPPointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraRobustEstimatorListener listener, List<Point3D> points3D, List<Point2D> points2D, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on point correspondences and using provided listener, 2D/3D points and robust estimator method.
static EPnPPointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraIntrinsicParameters intrinsic)	Creates a pinhole camera robust estimator based on point correspondences and using default robust estimator method.
static EPnPPointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraIntrinsicParameters intrinsic, double[] qualityScores)	Creates a pinhole camera robust estimator based on point correspondences and using provided quality scores and default robust estimator method.
static EPnPPointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraIntrinsicParameters intrinsic, double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on point correspondences and using provided quality scores and robust estimator method.
static EPnPPointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraIntrinsicParameters intrinsic, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on point correspondences and using provided robust estimator method.
static EPnPPointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraIntrinsicParameters intrinsic, List<Point3D> points3D, List<Point2D> points2D)	Creates a pinhole camera robust estimator based on point correspondences and using provided 2D/3D points and default robust estimator method.
static EPnPPointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraIntrinsicParameters intrinsic, List<Point3D> points3D, List<Point2D> points2D, double[] qualityScores)	Creates a pinhole camera robust estimator based on point correspondences and using provided 2D/3D points, quality scores and default robust estimator method.
static EPnPPointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraIntrinsicParameters intrinsic, List<Point3D> points3D, List<Point2D> points2D, double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on point correspondences and using provided 2D/3D points, quality scores and robust estimator method.
static EPnPPointCorrespondencePinholeCameraRobustEstimator	create(PinholeCameraIntrinsicParameters intrinsic, List<Point3D> points3D, List<Point2D> points2D, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on point correspondences and using provided 2D/3D points and robust estimator method.
static EPnPPointCorrespondencePinholeCameraRobustEstimator	create(com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on point correspondences and using provided robust estimator method.
static EPnPPointCorrespondencePinholeCameraRobustEstimator	create(List<Point3D> points3D, List<Point2D> points2D)	Creates a pinhole camera robust estimator based on point correspondences and using provided 2D/3D points and default robust estimator method.
static EPnPPointCorrespondencePinholeCameraRobustEstimator	create(List<Point3D> points3D, List<Point2D> points2D, double[] qualityScores)	Creates a pinhole camera robust estimator based on point correspondences and using provided 2D/3D points, quality scores and default robust estimator method.
static EPnPPointCorrespondencePinholeCameraRobustEstimator	create(List<Point3D> points3D, List<Point2D> points2D, double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on point correspondences and using provided 2D/3D points, quality scores and robust estimator method.
static EPnPPointCorrespondencePinholeCameraRobustEstimator	create(List<Point3D> points3D, List<Point2D> points2D, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a pinhole camera robust estimator based on point correspondences and using provided 2D/3D points and robust estimator method.
PinholeCameraIntrinsicParameters	getIntrinsic()	Gets intrinsic parameters of camera to be estimated.
double	getPlanarThreshold()	Gets threshold to determine whether 3D matched points are in a planar configuration.
boolean	isNormalizeSubsetPointCorrespondences()	Returns value indicating if each picked subset point correspondences are normalized to increase the accuracy of the estimation.
boolean	isNullspaceDimension2Allowed()	Indicates whether the case where a dimension 2 null-space is allowed.
boolean	isNullspaceDimension3Allowed()	Indicates whether the case where a dimension 3 null-space is allowed.
boolean	isPlanarConfigurationAllowed()	Indicates whether planar configuration is checked to determine whether point correspondences are in such configuration and find a specific solution for such case.
boolean	isReady()	Indicates if estimator is ready to start the pinhole camera estimation.
void	setIntrinsic(PinholeCameraIntrinsicParameters intrinsic)	Sets intrinsic parameters of camera to be estimated.
void	setNormalizeSubsetPointCorrespondences(boolean normalizeSubsetPointCorrespondences)	Sets value indicating if each picked subset point correspondences are normalized to increase the accuracy of the estimation.
void	setNullspaceDimension2Allowed(boolean nullspaceDimension2Allowed)	Specifies whether the case where a dimension 2 null-space is allowed.
void	setNullspaceDimension3Allowed(boolean nullspaceDimension3Allowed)	Specifies whether the case where a dimension 3 null-space is allowed.
void	setPlanarConfigurationAllowed(boolean planarConfigurationAllowed)	Specifies whether planar configuration is checked to determine whether point correspondences are in such configuration and find a specific solution for such case.
void	setPlanarThreshold(double planarThreshold)	Sets threshold to determine whether 3D matched points are in a planar configuration.

Methods inherited from class com.irurueta.geometry.estimators.PointCorrespondencePinholeCameraRobustEstimator

attemptRefine, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, getPoints2D, getPoints3D, getQualityScores, setPoints, setQualityScores

Methods inherited from class com.irurueta.geometry.estimators.PinholeCameraRobustEstimator

createFromPlanesAndLines, createFromPlanesAndLines, createFromPlanesAndLines, createFromPlanesAndLines, createFromPlanesAndLines, createFromPlanesAndLines, createFromPlanesAndLines, createFromPlanesAndLines, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, createFromPoints, estimate, getConfidence, getCovariance, getInliersData, getListener, getMaxIterations, getMethod, getProgressDelta, getRefinementStandardDeviation, getSuggestedAspectRatioValue, getSuggestedCenterValue, getSuggestedHorizontalFocalLengthValue, getSuggestedPrincipalPointValue, getSuggestedRotationValue, getSuggestedSkewnessValue, getSuggestedVerticalFocalLengthValue, hasSuggestions, isCovarianceKept, isFastRefinementUsed, isListenerAvailable, isLocked, isResultRefined, isSuggestAspectRatioEnabled, isSuggestCenterEnabled, isSuggestHorizontalFocalLengthEnabled, isSuggestPrincipalPointEnabled, isSuggestRotationEnabled, isSuggestSkewnessValueEnabled, isSuggestVerticalFocalLengthEnabled, setConfidence, setCovarianceKept, setFastRefinementUsed, setListener, setMaxIterations, setProgressDelta, setResultRefined, setSuggestAspectRatioEnabled, setSuggestCenterEnabled, setSuggestedAspectRatioValue, setSuggestedCenterValue, setSuggestedHorizontalFocalLengthValue, setSuggestedPrincipalPointValue, setSuggestedRotationValue, setSuggestedSkewnessValue, setSuggestedVerticalFocalLengthValue, setSuggestHorizontalFocalLengthEnabled, setSuggestPrincipalPointEnabled, setSuggestRotationEnabled, setSuggestSkewnessValueEnabled, setSuggestVerticalFocalLengthEnabled

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

intrinsic

protected PinholeCameraIntrinsicParameters intrinsic

Intrinsic parameters of camera to be estimated.

planarConfigurationAllowed

protected boolean planarConfigurationAllowed

Indicates whether planar configuration is checked to determine whether point correspondences are in such configuration and find a specific solution for such case.

nullspaceDimension2Allowed

protected boolean nullspaceDimension2Allowed

Indicates whether the case where a dimension 2 null-space is allowed. When allowed, additional constraints are taken into account to ensure equality of scales so that less point correspondences are required. Enabling this parameter is usually ok.

nullspaceDimension3Allowed

protected boolean nullspaceDimension3Allowed

Indicates whether the case where a dimension 3 null-space is allowed. When allowed, additional constraints are taken into account to ensure equality of scales so that less point correspondences are required. Enabling this parameter is usually ok although less precise than when a null-space of dimension 2 is used.

planarThreshold

protected double planarThreshold

Threshold to determine whether 3D matched points are in a planar configuration. Points are considered to be laying in a plane when the smallest singular value of their covariance matrix has a value much smaller than the largest one as many times as this value.

Constructor Details

EPnPPointCorrespondencePinholeCameraRobustEstimator

protected EPnPPointCorrespondencePinholeCameraRobustEstimator()

Constructor.

EPnPPointCorrespondencePinholeCameraRobustEstimator

protected EPnPPointCorrespondencePinholeCameraRobustEstimator(PinholeCameraRobustEstimatorListener listener)

Constructor with listener.

Parameters:

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

EPnPPointCorrespondencePinholeCameraRobustEstimator

protected EPnPPointCorrespondencePinholeCameraRobustEstimator(List<Point3D> points3D,
 List<Point2D> points2D)

Constructor with lists of points to be used to estimate a pinhole camera. Points in the lists located at the same position are considered to be matched. Hence, both lists must have the same size, and their size must be greater or equal than MIN_NUMBER_OF_POINT_CORRESPONDENCES (6 points).

Parameters:

points3D - list of 3D points used to estimate a pinhole camera.

points2D - list of corresponding projected 2D points used to estimate a pinhole camera.

Throws:

IllegalArgumentException - if provided lists of points don't have the same size or their size is smaller than required minimum size (6 correspondences).

EPnPPointCorrespondencePinholeCameraRobustEstimator

protected EPnPPointCorrespondencePinholeCameraRobustEstimator(PinholeCameraRobustEstimatorListener listener,
 List<Point3D> points3D,
 List<Point2D> points2D)

Constructor with listener and lists of points to be used to estimate a pinhole camera. Points in the lists located at the same position are considered to be matched. Hence, both lists must have the same size, and their size must be greater or equal than MIN_NUMBER_OF_POINT_CORRESPONDENCES (6 points).

Parameters:

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

points3D - list of 3D points used to estimate a pinhole camera.

points2D - list of corresponding projected 2D points used to estimate a pinhole camera.

Throws:

IllegalArgumentException - if provided lists of points don't have the same size or their size is smaller than required minimum size (6 correspondences).

EPnPPointCorrespondencePinholeCameraRobustEstimator

protected EPnPPointCorrespondencePinholeCameraRobustEstimator(PinholeCameraIntrinsicParameters intrinsic)

Constructor with intrinsic parameters.

Parameters:

intrinsic - intrinsic parameters of camera to be estimated.

EPnPPointCorrespondencePinholeCameraRobustEstimator

protected EPnPPointCorrespondencePinholeCameraRobustEstimator(PinholeCameraRobustEstimatorListener listener,
 PinholeCameraIntrinsicParameters intrinsic)

Constructor with intrinsic parameters and listener.

Parameters:

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

intrinsic - intrinsic parameters of camera to be estimated.

EPnPPointCorrespondencePinholeCameraRobustEstimator

protected EPnPPointCorrespondencePinholeCameraRobustEstimator(PinholeCameraIntrinsicParameters intrinsic,
 List<Point3D> points3D,
 List<Point2D> points2D)

Constructor with lists of points to be used to estimate a pinhole camera and intrinsic parameters. Points in the lists located at the same position are considered to be matched. Hence, both lists must have the same size, and their size must be greater or equal than MIN_NUMBER_OF_POINT_CORRESPONDENCES (6 points).

Parameters:

intrinsic - intrinsic parameters of camera to be estimated.

points3D - list of 3D points used to estimate a pinhole camera.

points2D - list of corresponding projected 2D points used to estimate a pinhole camera.

Throws:

IllegalArgumentException - if provided lists of points don't have the same size or their size is smaller than required minimum size (6 correspondences).

EPnPPointCorrespondencePinholeCameraRobustEstimator

protected EPnPPointCorrespondencePinholeCameraRobustEstimator(PinholeCameraRobustEstimatorListener listener,
 PinholeCameraIntrinsicParameters intrinsic,
 List<Point3D> points3D,
 List<Point2D> points2D)

Constructor with listener and lists of points to be used to estimate a pinhole camera and intrinsic parameters. Points in the lists located at the same position are considered to be matched. Hence, both lists must have the same size, and their size must be greater or equal than MIN_NUMBER_OF_POINT_CORRESPONDENCES (6 points).

Parameters:

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

intrinsic - intrinsic parameters of camera to be estimated.

points3D - list of 3D points used to estimate a pinhole camera.

points2D - list of corresponding projected 2D points used to estimate a pinhole camera.

Throws:

IllegalArgumentException - if provided lists of points don't have the same size or their size is smaller than required minimum size (6 correspondences).

Method Details

isPlanarConfigurationAllowed

public boolean isPlanarConfigurationAllowed()

Indicates whether planar configuration is checked to determine whether point correspondences are in such configuration and find a specific solution for such case.

Returns:

true to allow specific solutions for planar configurations, false to always find a solution assuming the general case.

setPlanarConfigurationAllowed

public void setPlanarConfigurationAllowed(boolean planarConfigurationAllowed)
                                   throws LockedException

Specifies whether planar configuration is checked to determine whether point correspondences are in such configuration and find a specific solution for such case.

Parameters:

planarConfigurationAllowed - true to allow specific solutions for planar configurations, false to always find a solution assuming the general case.

Throws:

LockedException - if estimator is locked.

isNullspaceDimension2Allowed

public boolean isNullspaceDimension2Allowed()

Indicates whether the case where a dimension 2 null-space is allowed. When allowed, additional constraints are taken into account to ensure equality of scales so that less point correspondences are required. Enabling this parameter is usually ok.

Returns:

true to allow 2-dimensional null-space, false otherwise.

setNullspaceDimension2Allowed

public void setNullspaceDimension2Allowed(boolean nullspaceDimension2Allowed)
                                   throws LockedException

Specifies whether the case where a dimension 2 null-space is allowed. When allowed, additional constraints are taken into account to ensure equality of scales so that less point correspondences are required. Enabling this parameter is usually ok.

Parameters:

nullspaceDimension2Allowed - true to allow 2-dimensional null-space, false otherwise.

Throws:

LockedException - if estimator is locked.

isNullspaceDimension3Allowed

public boolean isNullspaceDimension3Allowed()

Indicates whether the case where a dimension 3 null-space is allowed. When allowed, additional constraints are taken into account to ensure equality of scales so that less point correspondences are required. Enabling this parameter is usually ok although less precise than when a null-space of dimension 2 is used.

Returns:

true to allow 3-dimensional null-space, false otherwise.

setNullspaceDimension3Allowed

public void setNullspaceDimension3Allowed(boolean nullspaceDimension3Allowed)
                                   throws LockedException

Specifies whether the case where a dimension 3 null-space is allowed. When allowed, additional constraints are taken into account to ensure equality of scales so that less point correspondences are required. Enabling this parameter is usually ok although less precise than when a null-space of dimension 2 is used.

Parameters:

nullspaceDimension3Allowed - true to allow 3-dimensional null-space, false otherwise.

Throws:

LockedException - if estimator is locked.

getPlanarThreshold

public double getPlanarThreshold()

Gets threshold to determine whether 3D matched points are in a planar configuration. Points are considered to be laying in a plane when the smallest singular value of their covariance matrix has a value much smaller than the largest one as many times as this value.

Returns:

threshold to determine whether 3D matched points are in a planar configuration.

setPlanarThreshold

public void setPlanarThreshold(double planarThreshold)
                        throws LockedException

Sets threshold to determine whether 3D matched points are in a planar configuration. Points are considered to be laying in a plane when the smallest singular value of their covariance matrix has a value much smaller than the largest one as many times as this value.

Parameters:

planarThreshold - threshold to determine whether 3D matched points are in a planar configuration.

Throws:

IllegalArgumentException - if provided threshold is negative.

LockedException - if estimator is locked.

getIntrinsic

public PinholeCameraIntrinsicParameters getIntrinsic()

Gets intrinsic parameters of camera to be estimated.

Returns:

intrinsic parameters of camera to be estimated.

setIntrinsic

public void setIntrinsic(PinholeCameraIntrinsicParameters intrinsic)
                  throws LockedException

Sets intrinsic parameters of camera to be estimated.

Parameters:

intrinsic - intrinsic parameters of camera to be estimated.

Throws:

LockedException - if estimator is locked.

isReady

public boolean isReady()

Indicates if estimator is ready to start the pinhole camera estimation. This is true when input data (i.e. lists of 2D/3D matched points) are provided and a minimum of MIN_NUMBER_OF_POINT_CORRESPONDENCES are available.

Overrides:

isReady in class PointCorrespondencePinholeCameraRobustEstimator

Returns:

true if estimator is ready, false otherwise.

isNormalizeSubsetPointCorrespondences

public boolean isNormalizeSubsetPointCorrespondences()

Returns value indicating if each picked subset point correspondences are normalized to increase the accuracy of the estimation.

Overrides:

isNormalizeSubsetPointCorrespondences in class PointCorrespondencePinholeCameraRobustEstimator

Returns:

true if each picked subset point correspondences are normalized, false otherwise.

setNormalizeSubsetPointCorrespondences

public void setNormalizeSubsetPointCorrespondences(boolean normalizeSubsetPointCorrespondences)
                                            throws LockedException

Sets value indicating if each picked subset point correspondences are normalized to increase the accuracy of the estimation.

Overrides:

setNormalizeSubsetPointCorrespondences in class PointCorrespondencePinholeCameraRobustEstimator

Parameters:

normalizeSubsetPointCorrespondences - true if each picked subset point correspondences are normalized, false otherwise.

Throws:

LockedException - if robust estimator is locked because an estimation is already in progress.

create

public static EPnPPointCorrespondencePinholeCameraRobustEstimator create(com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a pinhole camera robust estimator based on point correspondences and using provided robust estimator method.

Parameters:

method - method of a robust estimator algorithm to estimate the best pinhole camera.

Returns:

an instance of a pinhole camera robust estimator.

create

public static EPnPPointCorrespondencePinholeCameraRobustEstimator create(List<Point3D> points3D,
 List<Point2D> points2D,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a pinhole camera robust estimator based on point correspondences and using provided 2D/3D points and robust estimator method.

Parameters:

points3D - list of 3D points used to estimate a pinhole camera.

points2D - list of corresponding projected 2D points used to estimate a pinhole camera.

method - method of a robust estimator algorithm to estimate the best pinhole camera.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided lists of points don't have the same size or their size is smaller than required minimum size (6 correspondences).

create

public static EPnPPointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraRobustEstimatorListener listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a pinhole camera robust estimator based on point correspondences and using provided listener.

Parameters:

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

method - method of a robust estimator algorithm to estimate the best pinhole camera.

Returns:

an instance of a pinhole camera robust estimator.

create

public static EPnPPointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraRobustEstimatorListener listener,
 List<Point3D> points3D,
 List<Point2D> points2D,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a pinhole camera robust estimator based on point correspondences and using provided listener, 2D/3D points and robust estimator method.

Parameters:

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

points3D - list of 3D points used to estimate a pinhole camera.

points2D - list of corresponding projected 2D points used to estimate a pinhole camera.

method - method of a robust estimator algorithm to estimate the best pinhole camera.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided lists of points don't have the same size or their size is smaller than required minimum size (6 correspondences).

create

public static EPnPPointCorrespondencePinholeCameraRobustEstimator create(double[] qualityScores,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a pinhole camera robust estimator based on point correspondences and using provided quality scores and robust estimator method.

Parameters:

qualityScores - quality scores corresponding to each pair of matched points.

method - method of a robust estimator algorithm to estimate the best pinhole camera.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided quality scores length is smaller than required minimum size (6 samples).

create

public static EPnPPointCorrespondencePinholeCameraRobustEstimator create(List<Point3D> points3D,
 List<Point2D> points2D,
 double[] qualityScores,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a pinhole camera robust estimator based on point correspondences and using provided 2D/3D points, quality scores and robust estimator method.

Parameters:

points3D - list of 3D points used to estimate a pinhole camera.

points2D - list of corresponding projected 2D points used to estimate a pinhole camera.

qualityScores - quality scores corresponding to each pair of matched points.

method - method of a robust estimator algorithm to estimate the best pinhole camera.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided lists of points and quality scores don't have the same size or their size is smaller than required minimum size (6 correspondences).

create

public static EPnPPointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraRobustEstimatorListener listener,
 double[] qualityScores,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a pinhole camera robust estimator based on point correspondences and using provided listener and quality scores.

Parameters:

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

qualityScores - quality scores corresponding to each pair of matched points.

method - method of a robust estimator algorithm to estimate the best pinhole camera.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided quality scores don't have the required minimum size (6 correspondences).

create

public static EPnPPointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraRobustEstimatorListener listener,
 List<Point3D> points3D,
 List<Point2D> points2D,
 double[] qualityScores,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a pinhole camera robust estimator based on point correspondences and using provided listener, 2D/3D points, quality scores and robust estimator method.

Parameters:

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

points3D - list of 3D points used to estimate a pinhole camera.

points2D - list of corresponding projected 2D points used to estimate a pinhole camera.

qualityScores - quality scores corresponding to each pair of matched points.

method - method of a robust estimator algorithm to estimate the best pinhole camera.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided lists of points and quality scores don't have the same size or their size is smaller than required minimum size (6 correspondences).

create

public static EPnPPointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraIntrinsicParameters intrinsic,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a pinhole camera robust estimator based on point correspondences and using provided robust estimator method.

Parameters:

intrinsic - intrinsic parameters of camera to be estimated.

method - method of a robust estimator algorithm to estimate the best pinhole camera.

Returns:

an instance of a pinhole camera robust estimator.

create

public static EPnPPointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraIntrinsicParameters intrinsic,
 List<Point3D> points3D,
 List<Point2D> points2D,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a pinhole camera robust estimator based on point correspondences and using provided 2D/3D points and robust estimator method.

Parameters:

intrinsic - intrinsic parameters of camera to be estimated.

points3D - list of 3D points used to estimate a pinhole camera.

points2D - list of corresponding projected 2D points used to estimate a pinhole camera.

method - method of a robust estimator algorithm to estimate the best pinhole camera.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided lists of points don't have the same size or their size is smaller than required minimum size (6 correspondences).

create

public static EPnPPointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraRobustEstimatorListener listener,
 PinholeCameraIntrinsicParameters intrinsic,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a pinhole camera robust estimator based on point correspondences and using provided listener.

Parameters:

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

intrinsic - intrinsic parameters of camera to be estimated.

method - method of a robust estimator algorithm to estimate the best pinhole camera.

Returns:

an instance of a pinhole camera robust estimator.

create

public static EPnPPointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraRobustEstimatorListener listener,
 PinholeCameraIntrinsicParameters intrinsic,
 List<Point3D> points3D,
 List<Point2D> points2D,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a pinhole camera robust estimator based on point correspondences and using provided listener, 2D/3D points and robust estimator method.

Parameters:

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

intrinsic - intrinsic parameters of camera to be estimated.

points3D - list of 3D points used to estimate a pinhole camera.

points2D - list of corresponding projected 2D points used to estimate a pinhole camera.

method - method of a robust estimator algorithm to estimate the best pinhole camera.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided lists of points don't have the same size or their size is smaller than required minimum size (6 correspondences).

create

public static EPnPPointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraIntrinsicParameters intrinsic,
 double[] qualityScores,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a pinhole camera robust estimator based on point correspondences and using provided quality scores and robust estimator method.

Parameters:

intrinsic - intrinsic parameters of camera to be estimated.

qualityScores - quality scores corresponding to each pair of matched points.

method - method of a robust estimator algorithm to estimate the best pinhole camera.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided quality scores length is smaller than required minimum size (6 samples).

create

public static EPnPPointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraIntrinsicParameters intrinsic,
 List<Point3D> points3D,
 List<Point2D> points2D,
 double[] qualityScores,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a pinhole camera robust estimator based on point correspondences and using provided 2D/3D points, quality scores and robust estimator method.

Parameters:

intrinsic - intrinsic parameters of camera to be estimated.

points3D - list of 3D points used to estimate a pinhole camera.

points2D - list of corresponding projected 2D points used to estimate a pinhole camera.

qualityScores - quality scores corresponding to each pair of matched points.

method - method of a robust estimator algorithm to estimate the best pinhole camera.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided lists of points and quality scores don't have the same size or their size is smaller than required minimum size (6 correspondences).

create

public static EPnPPointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraRobustEstimatorListener listener,
 PinholeCameraIntrinsicParameters intrinsic,
 double[] qualityScores,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a pinhole camera robust estimator based on point correspondences and using provided listener and quality scores.

Parameters:

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

intrinsic - intrinsic parameters of camera to be estimated.

qualityScores - quality scores corresponding to each pair of matched points.

method - method of a robust estimator algorithm to estimate the best pinhole camera.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided quality scores don't have the required minimum size (6 correspondences).

create

public static EPnPPointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraRobustEstimatorListener listener,
 PinholeCameraIntrinsicParameters intrinsic,
 List<Point3D> points3D,
 List<Point2D> points2D,
 double[] qualityScores,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a pinhole camera robust estimator based on point correspondences and using provided listener, 2D/3D points, quality scores and robust estimator method.

Parameters:

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

intrinsic - intrinsic parameters of camera to be estimated.

points3D - list of 3D points used to estimate a pinhole camera.

points2D - list of corresponding projected 2D points used to estimate a pinhole camera.

qualityScores - quality scores corresponding to each pair of matched points.

method - method of a robust estimator algorithm to estimate the best pinhole camera.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided lists of points and quality scores don't have the same size or their size is smaller than required minimum size (6 correspondences).

create

public static EPnPPointCorrespondencePinholeCameraRobustEstimator create()

Creates a pinhole camera robust estimator based on point correspondences and using default robust estimator method.

Returns:

an instance of a pinhole camera robust estimator.

create

public static EPnPPointCorrespondencePinholeCameraRobustEstimator create(List<Point3D> points3D,
 List<Point2D> points2D)

Creates a pinhole camera robust estimator based on point correspondences and using provided 2D/3D points and default robust estimator method.

Parameters:

points3D - list of 3D points used to estimate a pinhole camera.

points2D - list of corresponding projected 2D points used to estimate a pinhole camera.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided lists of points don't have the same size or their size is smaller than required minimum size (6 correspondences).

create

public static EPnPPointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraRobustEstimatorListener listener)

Creates a pinhole camera robust estimator based on point correspondences and using provided listener and default robust estimator method.

Parameters:

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

Returns:

an instance of a pinhole camera robust estimator.

create

public static EPnPPointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraRobustEstimatorListener listener,
 List<Point3D> points3D,
 List<Point2D> points2D)

Creates a pinhole camera robust estimator based on point correspondences and using provided listener, 2D/3D points and default robust estimator method.

Parameters:

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

points3D - list of 3D points used to estimate a pinhole camera.

points2D - list of corresponding projected 2D points used to estimate a pinhole camera.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided lists of points don't have the same size or their size is smaller than required minimum size (6 correspondences).

create

public static EPnPPointCorrespondencePinholeCameraRobustEstimator create(double[] qualityScores)

Creates a pinhole camera robust estimator based on point correspondences and using provided quality scores and default robust estimator method.

Parameters:

qualityScores - quality scores corresponding to each pair of matched points.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided quality scores length is smaller than required minimum size (6 samples).

create

public static EPnPPointCorrespondencePinholeCameraRobustEstimator create(List<Point3D> points3D,
 List<Point2D> points2D,
 double[] qualityScores)

Creates a pinhole camera robust estimator based on point correspondences and using provided 2D/3D points, quality scores and default robust estimator method.

Parameters:

points3D - list of 3D points used to estimate a pinhole camera.

points2D - list of corresponding projected 2D points used to estimate a pinhole camera.

qualityScores - quality scores corresponding to each pair of matched points.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided lists of points and quality scores don't have the same size or their size is smaller than required minimum size (6 correspondences).

create

public static EPnPPointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraRobustEstimatorListener listener,
 double[] qualityScores)

Creates a pinhole camera robust estimator based on point correspondences and using provided listener, quality scores and default robust estimator method.

Parameters:

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

qualityScores - quality scores corresponding to each pair of matched points.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided quality scores don't have the required minimum size (6 correspondences).

create

public static EPnPPointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraRobustEstimatorListener listener,
 List<Point3D> points3D,
 List<Point2D> points2D,
 double[] qualityScores)

Creates a pinhole camera robust estimator based on point correspondences and using provided listener, 2D/3D points, quality scores and default robust estimator method.

Parameters:

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

points3D - list of 3D points used to estimate a pinhole camera.

points2D - list of corresponding projected 2D points used to estimate a pinhole camera.

qualityScores - quality scores corresponding to each pair of matched points.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided lists of points and quality scores don't have the same size or their size is smaller than required minimum size (6 correspondences).

create

public static EPnPPointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraIntrinsicParameters intrinsic)

Creates a pinhole camera robust estimator based on point correspondences and using default robust estimator method.

Parameters:

intrinsic - intrinsic parameters of camera to be estimated.

Returns:

an instance of a pinhole camera robust estimator.

create

public static EPnPPointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraIntrinsicParameters intrinsic,
 List<Point3D> points3D,
 List<Point2D> points2D)

Creates a pinhole camera robust estimator based on point correspondences and using provided 2D/3D points and default robust estimator method.

Parameters:

intrinsic - intrinsic parameters of camera to be estimated.

points3D - list of 3D points used to estimate a pinhole camera.

points2D - list of corresponding projected 2D points used to estimate a pinhole camera.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided lists of points don't have the same size or their size is smaller than required minimum size (6 correspondences).

create

public static EPnPPointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraRobustEstimatorListener listener,
 PinholeCameraIntrinsicParameters intrinsic)

Creates a pinhole camera robust estimator based on point correspondences and using provided listener and default robust estimator method.

Parameters:

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

intrinsic - intrinsic parameters of camera to be estimated.

Returns:

an instance of a pinhole camera robust estimator.

create

public static EPnPPointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraRobustEstimatorListener listener,
 PinholeCameraIntrinsicParameters intrinsic,
 List<Point3D> points3D,
 List<Point2D> points2D)

Creates a pinhole camera robust estimator based on point correspondences and using provided listener, 2D/3D points and default robust estimator method.

Parameters:

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

intrinsic - intrinsic parameters of camera to be estimated.

points3D - list of 3D points used to estimate a pinhole camera.

points2D - list of corresponding projected 2D points used to estimate a pinhole camera.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided lists of points don't have the same size or their size is smaller than required minimum size (6 correspondences).

create

public static EPnPPointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraIntrinsicParameters intrinsic,
 double[] qualityScores)

Creates a pinhole camera robust estimator based on point correspondences and using provided quality scores and default robust estimator method.

Parameters:

intrinsic - intrinsic parameters of camera to be estimated.

qualityScores - quality scores corresponding to each pair of matched points.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided quality scores length is smaller than required minimum size (6 samples).

create

public static EPnPPointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraIntrinsicParameters intrinsic,
 List<Point3D> points3D,
 List<Point2D> points2D,
 double[] qualityScores)

Creates a pinhole camera robust estimator based on point correspondences and using provided 2D/3D points, quality scores and default robust estimator method.

Parameters:

intrinsic - intrinsic parameters of camera to be estimated.

points3D - list of 3D points used to estimate a pinhole camera.

points2D - list of corresponding projected 2D points used to estimate a pinhole camera.

qualityScores - quality scores corresponding to each pair of matched points.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided lists of points and quality scores don't have the same size or their size is smaller than required minimum size (6 correspondences).

create

public static EPnPPointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraRobustEstimatorListener listener,
 PinholeCameraIntrinsicParameters intrinsic,
 double[] qualityScores)

Creates a pinhole camera robust estimator based on point correspondences and using provided listener, quality scores and default robust estimator method.

Parameters:

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

intrinsic - intrinsic parameters of camera to be estimated.

qualityScores - quality scores corresponding to each pair of matched points.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided quality scores don't have the required minimum size (6 correspondences).

create

public static EPnPPointCorrespondencePinholeCameraRobustEstimator create(PinholeCameraRobustEstimatorListener listener,
 PinholeCameraIntrinsicParameters intrinsic,
 List<Point3D> points3D,
 List<Point2D> points2D,
 double[] qualityScores)

Creates a pinhole camera robust estimator based on point correspondences and using provided listener, 2D/3D points, quality scores and default robust estimator method.

Parameters:

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

intrinsic - intrinsic parameters of camera to be estimated.

points3D - list of 3D points used to estimate a pinhole camera.

points2D - list of corresponding projected 2D points used to estimate a pinhole camera.

qualityScores - quality scores corresponding to each pair of matched points.

Returns:

an instance of a pinhole camera robust estimator.

Throws:

IllegalArgumentException - if provided lists of points and quality scores don't have the same size or their size is smaller than required minimum size (6 correspondences).